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4. TECHNOLOGY COMPONENTSTechnology developed for this demonstration consisted of the following areas: prior knowledge of the site, unattendedground sensors, unmanned air vehicles, unmanned ground vehicles, and a common operating picture.4.1 Prior site knowledgeManned Flights over the experimental area were conducted to obtain high resolution imagery and LIDAR terrain datawith an average posting every 30cm and error bounds of +/- 5cm vertical and +/- 11cm horizontal. Figure 3 shows thequality of the LIDAR data (notice the detected power lines shown in red). Additionally, high-resolution (7cm) imagerywas also obtained to be used as the backdrop for the scenario (see discussion on common operating picture).Prior to the demonstration the LIDAR and high resolution imagery were geo-referenced and used to compute likelypaths of approach and paths of intercept given starting coordinates of a robot. This allowed the ground vehicle to betasked immediately upon receipt of information regarding the position of an intruder.7'a.Figure 3. High resolution LIDAR data, blue represents lower elevation, red represents higher elevation.4.2 Unattended ground sensors.Sensors such as the Stabilized Panoramic Intruder Detection and Recognition System (SPIDER) and RADAR basedunattended ground sensors provide initial intrusion detection. Also a Hyperspectral Unattended Ground Sensor (HUGS)that requires a specific target matrix defining how the targets are different from the background (i.e. people versusanimals) allows for material identification. Other unattended ground sensors were identified that utilized acoustic,seismic, video, or a combination of each.4.3 Unmanned Air VehiclesMultiple UAVs were developed for this experiment to provide persistent surveillance, first response, and threatneutralization and confirmation capabilities.4.3.1 Persistent SurveillanceA single 2-hour UAV system capable of deploying single or dual, gimbaled cameras with real-time imagery transmissionto an operator control unit was developed to perform persistent surveillance. This design allowed persistent surveillanceto continue with one gimbaled camera while the other gimbaled camera was employed for potential target investigation.The primary fixed wing platform is the Arcturus UAV T-15 airframe as shown in Figure 4 (see [1] for more details). The